

//通用库
#include <iostream>  
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <chrono>  //时间控制
#include <thread> 
#include <vector>
#include <bitset>
#include <vector>

//通讯库
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>

//定义接受缓冲数
#define RECV_BUUF_SIZE 64
//定义udp端口号
#define SERVER_PORT 9001
#define SERVER_IP "192.168.110.1"

class UDP_ROS
{
public:

        UDP_ROS(int sockfd_) : sockfd(sockfd_){}
        bool Node_Init();
        bool Send_Message(unsigned char* send_buf, int send_buf_size);
        int Get_message(unsigned char* recv_buf);
        std::vector<double> Deserialize_msg(int sockfd);
        bool CRC16_Check(unsigned char* message_char, int len);
        uint16_t CRC16_Cal(unsigned char* message_char, int len);
        bool Change_Pose(std::vector<double> set_pose);
        std::pair<unsigned char, unsigned char> Int_2uint8(int16_t num);


private:
        int sockfd;
        struct sockaddr_in send_addr;
        struct sockaddr_in recv_addr;
        
        //云台归中
        unsigned char init_pose_send_buf[11] =
                {0x55,0x66,0x01,0x01,0x00,0x00,0x00,0x08,0x01,0xd1,0x12};
        //设置为锁定模式
        //unsigned char move_lock_send_buf[11] =
        //        {0x55,0x66,0x01,0x01,0x00,0x00,0x00,0x0c,0x03,0x57,0xfe};
        //gensui  
        unsigned char move_lock_send_buf[11] =
        {0x55,0x66,0x01,0x01,0x00,0x00,0x00,0x0c,0x04,0xb0,0x8e};
        //fpv  05 91 9e
        //unsigned char move_lock_send_buf[11] =
        //{0x55,0x66,0x01,0x01,0x00,0x00,0x00,0x0c,0x05,0x91,0x9e};
        //获取云台位姿信息
        unsigned char get_pose_send_buf[10] =
                {0x55,0x66,0x01,0x00,0x00,0x00,0x00,0x0d,0xe8,0x05};

        bool send_recv_flag = false;//正在通讯为true，闲置为false

        //CRC16查询表
        const uint16_t crc16_tab[256]=
        {0x0000,0x1021,0x2042,0x3063,0x4084,0x50a5,0x60c6,0x70e7,
         0x8108,0x9129,0xa14a,0xb16b,0xc18c,0xd1ad,0xe1ce,0xf1ef,
         0x1231,0x210,0x3273,0x2252,0x52b5,0x4294,0x72f7,0x62d6,
         0x9339,0x8318,0xb37b,0xa35a,0xd3bd,0xc39c,0xf3ff,0xe3de,
         0x2462,0x3443,0x420,0x1401,0x64e6,0x74c7,0x44a4,0x5485,
         0xa56a,0xb54b,0x8528,0x9509,0xe5ee,0xf5cf,0xc5ac,0xd58d,
         0x3653,0x2672,0x1611,0x630,0x76d7,0x66f6,0x5695,0x46b4,
         0xb75b,0xa77a,0x9719,0x8738,0xf7df,0xe7fe,0xd79d,0xc7bc,
         0x48c4,0x58e5,0x6886,0x78a7,0x840,0x1861,0x2802,0x3823,
         0xc9cc,0xd9ed,0xe98e,0xf9af,0x8948,0x9969,0xa90a,0xb92b,
         0x5af5,0x4ad4,0x7ab7,0x6a96,0x1a71,0xa50,0x3a33,0x2a12,
         0xdbfd,0xcbdc,0xfbbf,0xeb9e,0x9b79,0x8b58,0xbb3b,0xab1a,
         0x6ca6,0x7c87,0x4ce4,0x5cc5,0x2c22,0x3c03,0xc60,0x1c41,
         0xedae,0xfd8f,0xcdec,0xddcd,0xad2a,0xbd0b,0x8d68,0x9d49,
         0x7e97,0x6eb6,0x5ed5,0x4ef4,0x3e13,0x2e32,0x1e51,0xe70,
         0xff9f,0xefbe,0xdfdd,0xcffc,0xbf1b,0xaf3a,0x9f59,0x8f78,
         0x9188,0x81a9,0xb1ca,0xa1eb,0xd10c,0xc12d,0xf14e,0xe16f,
         0x1080,0xa1,0x30c2,0x20e3,0x5004,0x4025,0x7046,0x6067,
         0x83b9,0x9398,0xa3fb,0xb3da,0xc33d,0xd31c,0xe37f,0xf35e,
         0x2b1,0x1290,0x22f3,0x32d2,0x4235,0x5214,0x6277,0x7256,
         0xb5ea,0xa5cb,0x95a8,0x8589,0xf56e,0xe54f,0xd52c,0xc50d,
         0x34e2,0x24c3,0x14a0,0x481,0x7466,0x6447,0x5424,0x4405,
         0xa7db,0xb7fa,0x8799,0x97b8,0xe75f,0xf77e,0xc71d,0xd73c,
         0x26d3,0x36f2,0x691,0x16b0,0x6657,0x7676,0x4615,0x5634,
         0xd94c,0xc96d,0xf90e,0xe92f,0x99c8,0x89e9,0xb98a,0xa9ab,
         0x5844,0x4865,0x7806,0x6827,0x18c0,0x8e1,0x3882,0x28a3,
         0xcb7d,0xdb5c,0xeb3f,0xfb1e,0x8bf9,0x9bd8,0xabbb,0xbb9a,
         0x4a75,0x5a54,0x6a37,0x7a16,0xaf1,0x1ad0,0x2ab3,0x3a92,
         0xfd2e,0xed0f,0xdd6c,0xcd4d,0xbdaa,0xad8b,0x9de8,0x8dc9,
         0x7c26,0x6c07,0x5c64,0x4c45,0x3ca2,0x2c83,0x1ce0,0xcc1,
         0xef1f,0xff3e,0xcf5d,0xdf7c,0xaf9b,0xbfba,0x8fd9,0x9ff8,
         0x6e17,0x7e36,0x4e55,0x5e74,0x2e93,0x3eb2,0xed1,0x1ef0
        };

};

bool send_recv_flag = false;//正在通讯为true，闲置为false


